Deformable sensors and methods for detecting pose and force against an object

ABSTRACT

Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/864,874, filed May 1, 2020, which is a continuation of U.S.application Ser. No. 15/909,742, filed Mar. 1, 2018, which claims thebenefit of U.S. Provisional Application 62/563,595, filed Sep. 26, 2017,which are incorporated by reference in their entireties.

TECHNICAL FIELD

Embodiments described herein generally relate to contact sensors and,more particularly, to deformable contact and geometry/pose sensorscapable of detecting contact and a geometry of an object. Embodimentsalso relate to robots incorporating deformable contact and geometrysensors. Deformability may refer, for example, to ease of deformation ofdeformable sensors. Spatial resolution may refer, for example, to howmany pixels a deformable sensor has. The number of pixels may range from1 (e.g., a sensor that simply detects contact with a target object) tothousands or millions (e.g., the dense sensor provided by atime-of-flight sensor having thousands of pixels) or any suitablenumber. Deformability may refer to how easily a deformable membranedeforms when contacting a target object. A deformable sensor may be of ahigh spatial resolution, with a dense tactile sensing sensor that isprovided as an end effector of a robot, thereby giving the robot a finesense of touch like a human's fingers. A deformable sensor may also havea depth resolution to measure movement toward and away from the sensor.

BACKGROUND

Contact sensors are used to determine whether or not one object is inphysical contact with another object. For example, robots often usecontact sensors to determine whether a portion of the robot is incontact with an object. Control of the robot may then be based at leastin part on signals from one or more contact sensors.

SUMMARY

In one embodiment, a deformable sensor for detecting a pose and forceassociated with an object includes an enclosure having a housing and adeformable membrane coupled to an upper portion of the housing, theenclosure configured to be filled with a medium. The deformable sensormay also include an internal sensor, disposed within the enclosure,having a field of view configured to be directed through the medium andtoward a bottom surface of the deformable membrane, wherein the internalsensor is configured to output a deformation region within thedeformable membrane as a result of contact with the object.

In another embodiment, a method for sensor-based detection of a pose andforce associated with an object includes receiving, by a processor, asignal from a deformable sensor comprising data with respect to adeformation region in a deformable membrane that may result from contactwith the object utilizing an internal sensor disposed within anenclosure and having a field of view directed through a medium andtoward a bottom surface of the deformable membrane. A pose of the objectmay be determined, by the processor, based on the deformation region ofthe deformable membrane. An amount of force applied between thedeformable membrane and the object may be determined, by the processor,based on the deformation region of the deformable membrane.

In yet another embodiment, a system for detecting a pose and forceassociated with an object may include an enclosure comprising a housingand a deformable membrane coupled to an upper portion of the housing,the enclosure configured to be filled with a medium. The system may alsoinclude an internal sensor, disposed within the enclosure, having afield of view configured to be directed through the medium and toward abottom surface of the deformable membrane. The internal sensor mayoutput a deformation region within the deformable membrane as a resultof contact with the object. The system may further include a processorthat determines a pose of the object and an amount of force appliedbetween the deformable membrane and the object.

These and additional features provided by the embodiments describedherein will be more fully understood in view of the following detaileddescription, in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments set forth in the drawings are illustrative and exemplaryin nature and not intended to limit the subject matter defined by theclaims. The following detailed description of the illustrativeembodiments can be understood when read in conjunction with thefollowing drawings, where like structure is indicated with likereference numerals and in which:

FIG. 1 schematically depicts an elevation view of an example deformablesensor according to one or more embodiments described and illustratedherein;

FIG. 2 schematically depicts a top perspective view of the exampledeformable sensor depicted by FIG. 1 according to one or moreembodiments described and illustrated herein;

FIG. 3 schematically depicts an example time-of-flight sensor for use ina deformable sensor according to one or more embodiments described andillustrated herein;

FIG. 4 is an image depicting an output of a deformable sensor on anelectronic display according to one or more embodiments described andillustrated herein;

FIG. 5 schematically depicts a filter layer coupled to a deformablemembrane of a deformable sensor according to one or more embodimentsdescribed and illustrated herein;

FIG. 6 schematically depicts a filter within a field of view of a sensorof a deformable sensor according to one or more embodiments describedand illustrated herein;

FIG. 7 schematically depicts a pattern on a bottom surface of adeformable membrane of a deformable sensor according to one or moreembodiments described and illustrated herein;

FIG. 8 schematically depicts two example robots each having a deformablesensor and manipulating an object according to one or more embodimentsdescribed and illustrated herein;

FIG. 9 schematically depicts an example robot having a plurality ofdeformable sensors with varying spatial resolution and depth resolutionaccording to one or more embodiments described and illustrated herein;

FIG. 10 schematically depicts a compound internal sensor having aplurality of internal sensors according to one or more embodimentsdescribed and illustrated herein;

FIG. 11 is a flow chart depicting an exemplary process of determiningthe pose and force associated with an object in contact with adeformable sensor according to one or more embodiments described andillustrated herein;

FIG. 12 is a block diagram illustrating computing hardware utilized inone or more devices for implementing various processes and systems,according one or more embodiments described and illustrated herein; and

FIG. 13 is a block diagram illustrating hardware utilized in one or morerobots for implementing various processes and systems, according one ormore embodiments described and illustrated herein.

DETAILED DESCRIPTION

As humans, our sense of touch allows us to determine the shape of anobject without looking at the object. Further, our sense of touchprovides information as to how to properly grasp and hold an object. Ourfingers are more sensitive to touch than other parts of the body, suchas arms. This is because we manipulate objects with our hands.

Robots are commonly equipped with end effectors that are configured toperform certain tasks. For example, an end effector of a robotic arm maybe configured as a human hand, or as a two-fingered gripper. However,robots do not have varying levels of touch sensitivity as do humans. Endeffectors may include sensors such as pressure sensors, but such sensorsprovide limited information about the object that is in contact with theend effector. Thus, the robot may damage a target object by using toomuch force, or drop the object because it does not properly grasp theobject.

Further, in some applications, a deformable/compliant end effector maybe desirable. For example, a deformable end effector may be desirable inrobot-human interactions. Further, a deformable/compliant end effectormay be desirable when the robot manipulates fragile objects.

Embodiments of the present disclosure are directed todeformable/compliant contact and/or geometry sensors (hereinafter“deformable sensors”) that not only detect contact with a target object,but also detect the geometry, pose and contact force of the targetobject. Particularly, the deformable sensors described herein comprise adeformable membrane coupled to a housing that maintains a sensor capableof detecting displacement of the deformable membrane by contact with anobject. The deformable sensors described herein not only detect thepressure or force that is applied to the deformable membrane, but canalso detect the geometry and pose of the object. Thus, the deformablesensors described herein provide a robot (or other device) with a senseof touch when manipulating objects.

Referring now to FIGS. 1 and 2, an example deformable sensor 100 isschematically illustrated. FIG. 1 is a front elevation view of theexample deformable sensor 100 and FIG. 2 is a top perspective view ofthe example deformable sensor 100. FIGS. 1 and 2 depict differingembodiments. The example deformable sensor 100 generally comprises ahousing 110 and a deformable membrane 120 coupled to the housing 110,such as by an upper portion 111 of the housing 110. The housing 110 andthe deformable membrane 120 define an enclosure 113 that is filled witha medium through one or more passthroughs 112, which may be a valve orany other suitable mechanism. The passthrough 112 may be utilized tofill or empty the enclosure. In one example, the medium is gas, such asair. Thus, air may be pumped into the enclosure 113 to a desiredpressure such that the deformable membrane 120 forms a dome shape asshown in FIG. 1, although any suitable shape may be utilized in otherembodiments. In another example, the medium is a gel, such as siliconeor other rubber-like substance. In some embodiments a substance such assolid silicone may be cast in a given shape before assembly of thedeformable sensor 100. In various embodiments, the medium may beanything that is transparent to an internal sensor (discussed in moredetail below), such as to a wavelength of a time of flight sensor. Themedium may include clear/transparent rubbers in some embodiments. Inother embodiments the medium may be a liquid. In some examples, thedeformable membrane 120 and the medium within the enclosure 113 may befabricated of the same material, such as, without limitation, silicone.In some embodiments the deformable sensor 100 may be mountable. Forexample, the enclosure 113 may include brackets to be mounted anysuitable object (such as a robot) or material. The deformable membrane120 may be a latex or any other suitable material, such as a suitablythin, non-porous, rubber-like material.

The deformability of the deformable sensor 100 may be tuned/modified bychanging the material of the deformable membrane 120 and/or the pressurewithin the enclosure 113. By using a softer material (e.g., softsilicone), the deformable sensor 100 may be more easily deformed.Similarly, lowering the pressure within the enclosure 113 may also causethe deformable membrane 120 to more easily deform, which may in turnprovide for a more deformable sensor 100. In some embodiments robotsfeature varying touch sensitivity due to varying spatial resolutionand/or depth resolution.

An internal sensor 130 capable of sensing depth may be disposed withinthe enclosure 113, which may be measured by the depth resolution of theinternal sensor 130. The internal sensor 130 may have a field of view132 directed through the medium and toward a bottom surface of thedeformable membrane 120. In some embodiments the internal sensor 130 maybe an optical sensor. As described in more detail below, the internalsensor 130 may be capable of detecting deflections of the deformablemembrane 120 when the deformable membrane 120 comes into contact with anobject. In one example, the internal sensor 130 is a time-of-flightsensor capable of measuring depth. The time-of-flight sensor emits anoptical signal (e.g., an infrared signal) and has individual detectors(i.e., “pixels”) that detect how long it takes for the reflected signalto return to the sensor. The time-of-flight sensor may have any desiredspatial resolution. The greater the number of pixels, the greater thespatial resolution. The spatial resolution of the sensor disposed withinthe internal sensor 130 may be changed. In some cases, low spatialresolution (e.g., one “pixel” that detects a single point'sdisplacement) may be desired. In others, a sensitive time-of-flightsensor such may be used as a high spatial resolution internal sensor 130that provides dense tactile sensing. Thus, the internal sensor 130 maybe modular because the sensors may be changed depending on theapplication. FIG. 3 depicts an example time-of-flight sensor. Anon-limiting example of a time-of-flight sensor is the Pico Flexx soldby PMD Technologies AG of Siegen, Germany. Other types of visualinternal sensors include, by way of non-limiting example, stereocameras, laser range sensors, structured light sensors/3d scanners,single cameras (such as with dots or other patterns inside), or anyother suitable type of visual detector. For example, the internal sensor130 may be configured as a stereo-camera capable of detectingdeflections of the deformable membrane 120 by an object.

Any suitable quantity and/or types of internal sensors 130 may beutilized within a single deformable sensor 100 in some embodiments. Insome examples, not all internal sensors 130 within a deformable sensor100 need be of the same type. In various embodiments, one deformablesensor 100 may utilize a single internal sensor 130 with a high spatialresolution, whereas another deformable sensor 100 may use a plurality ofinternal sensors 130 that each have a low spatial resolution. In someembodiments the spatial resolution of a deformable sensor 100 may beincreased due to an increase in the quantity of internal sensors 130. Insome examples, a decrease in the number of internal sensors 130 within adeformable sensor 100 can be compensated for by a corresponding increasein the spatial resolution of at least some of the remaining internalsensors 130. As discussed in more detail below, the aggregatedeformation resolution may be measured as a function of the deformationresolution or depth resolution among the deformable sensors 100 in aportion of a robot. In some embodiments aggregate deformation resolutionmay be based upon a quantity of deformable sensors in a portion of therobot and a deformation resolution obtained from each deformable sensorin that portion.

Referring again to FIG. 1, a conduit 114 may be utilized in theenclosure 113 to provide power and/or data/signals, such as to theinternal sensor 130 by way of a conduit, such as for USB (universalserial bus) or any other suitable type of power and/or signal/dataconnection. As used herein, an airtight conduit may include any type ofpassageway through which air or any other fluid (such as liquid) cannotpass. In this example, an airtight conduit may provide a passagewaythrough which solid object (such as wires/cables) may pass through bywith an airtight seal being formed around such wires/cables at each endof the airtight conduit. Other embodiments utilized wireless internalsensors 130 to transmit and/or receive data and/or power. In variousembodiments where the medium is not a gas, such as silicone, theenclosure 113 and/or conduit 114 may not necessarily be airtight.

In some embodiments the internal sensor 130 may include one or moreinternal pressure sensors (barometers, pressure sensors, etc., or anycombination thereof) utilized to detect the general deformation of thedeformable membrane 120 through the medium. In some embodiments thedeformable sensor 100 and/or internal sensor 130 may receive/sendvarious data, such as through the conduit 114 discussed above, wirelessdata transmission (wi-fi, Bluetooth, etc.), or any other suitable datacommunication protocol. For example, pressure within a deformable sensor100 may be specified by a pressurization parameter and may be inverselyproportional to the deformability of the deformable sensor 100. In someembodiments the deformability of a deformable sensor 100 may be modifiedby changing pressure within the enclosure 113 or a material of thedeformable membrane 120. In some embodiments receipt of an updatedparameter value may result in a real-time or delayed update(pressurization, etc.).

FIG. 4 depicts an image of an example object 215 displacing thedeformable membrane 120 of the example deformable sensor 100. In theillustrated embodiment, a display device 140 outputs for display on adevice, output of the deformable sensor 100 in real time as an object215 contacts and/or deforms the deformable membrane 120. It should beunderstood that the display device 140 is provided for illustrativepurposes only, and that embodiments may be utilized without a displaydevice. As the object 215 is pressed into the deformable membrane 120,the object 215 imparts its shape into the deformable membrane 120 suchthat the deformable membrane 120 conforms to the shape of the object215. The spatial resolution of the internal sensor 130 may be such thatthe internal sensor 130 detects the geometry and/or pose of thedisplaced deformable membrane 120. For example, when the internal sensor130 is a time-of-flight sensor, the optical signal that is reflected offof the bottom surface of the deformable membrane 120 that is beingdeflected by the object has a shorter time-of-flight than the opticalsignal that is reflected by the deformable membrane 120 at a regionoutside of the deflected region. Thus, a contact region 142 (ordisplaced region, used herein interchangeably) having a geometry and/orpose matching the shape of the object 215 may be outputted and displayedon the display device 140.

The deformable sensor 100 therefore not only may detect the presence ofcontact with the object 215, but also the geometry of the object 215. Inthis manner, a robot equipped with a deformable sensor 100 may determinethe geometry of an object based on contact with the object.Additionally, a geometry and/or pose of the object 215 may also bedetermined based on the geometric information sensed by the deformablesensor 100. For example, a vector 144 that is normal to a surface in thecontact region 142 may be displayed, such as when determining the poseof the object 215. The vector 144 may be used by a robot or other deviceto determine which direction a particular object 215 may be oriented,for example.

Referring now to FIG. 5, in some embodiments an optional filter layer123 may be disposed on a bottom surface 121 of the deformable membrane120. As described in more detail below and shown in FIG. 7, the bottomsurface 121 of the deformable membrane 120 may be patterned (e.g., agrid pattern 122, a dot pattern, or any other suitable type pattern)that may be detected, by way of non-limiting example, a stereo-camera todetect displacement. The filter layer 123 may be configured to aid theinternal sensor 130 in detecting deformation of the deformable membrane120. In some embodiments, the filter layer 123 reduces glare or improperreflections of one or more optical signals emitted by the internalsensor 130. In some embodiments the filter layer 123 may scatter one ormore optical signals emitted by the internal sensor 130. The filterlayer 123 may be an additional layer secured to the bottom surface 121of the deformable membrane 120, or it may be a coating and/or patternapplied to the bottom surface 121 of the deformable membrane 120.

Referring to FIG. 6, in some embodiments an internal sensor filter 135may be disposed within the field of view 132 of the internal sensor 130.The internal sensor filter 135 may optimize the optical signal emittedby the internal sensor 130 for reflection upon the bottom surface 121 ofthe deformable membrane 120. Like the filter layer 123, the internalsensor filter 135 may be disposed within a field of view 132 of theinternal sensor 130 and may reduce glare or improper reflections of anyoptical signals emitted by the internal sensor 130. In some embodimentsthe internal sensor filter 135 may scatter one or more optical signalsemitted by the internal sensor 130. In some embodiments, both theinternal sensor filter 135 and the filter layer 123 may be utilized.

Referring now to FIG. 7, a grid pattern 122 may be applied to a bottomsurface 121 of the deformable membrane 120 to assist in the detection ofthe deformation of the deformable membrane 120. For example, the gridpattern 122 may assist in the detection of the deformation when theinternal sensor 130 is a stereo-camera. For example, varying degrees ofdistortion to the grid pattern 122 may be utilized to discern how muchdeformation has occurred. In this example, the distance between parallellines and/or measuring curvature of lines in the grid pattern 122 may beused to determine the amount of deformation at each point in the grid.It should be understood that embodiments are not limited to gridpatterns, as other types of patterns are possible, such as dots, shapes,and the like. The pattern on the bottom surface 121 may be random, andnot necessarily arranged in a grid pattern 122 or an array as shown inFIG. 7.

FIG. 8 schematically depicts an example non-limiting first robot 200 ahaving a first deformable sensor 100 a and an example second robot 200 bhaving a second deformable sensor 100 b. In this illustrated example,the first robot 200A and the second robot 200B may cooperate for dualarm manipulation wherein both the first deformable sensor 100A and thesecond deformable sensor 100 b contact the object 215. As stated above,the deformable sensors 100 described herein may be used as an endeffector of a robot to manipulate an object. The deformable sensor 100may allow a robot to handle an object 215 that is fragile due to theflexible nature of the deformable membrane 120. Further, the deformablesensor 100 may be useful for robot-to-human contact because in someembodiments the deformable membrane 120 may be softer and/or moreflexible/deformable, rather than rigid (non-deformable or nearly so) tothe touch.

In addition to geometry and pose estimation, the deformable sensor 100may be used to determine how much force a robot 200 a (or other device)is exerting on the target object 215. Although reference is made tofirst robot 200 a, any such references may in some embodiments utilizesecond robot 200 b, any other suitable devices, and/or any combinationsthereof. This information may be used by the robot 200 a to moreaccurately grasp objects 215. For example, the displacement of thedeformable membrane 120 may be modeled. The model of the displacement ofthe deformable membrane 120 may be used to determine how much force isbeing applied to the target object 215. The determined force as measuredby the displacement of the deformable membrane 120 may then be used tocontrol a robot 200 a to more accurately grasp objects 215. As anexample, the amount of force a robot 200 a (discussed in more detailbelow) applies to a fragile object 215 may be of importance so that therobot 200 a does not break the object 215 that is fragile. In someembodiments an object 215 may be assigned a softness value (or fragilityvalue), where the robot 200 a may programmed to interact with allobjects 215 based upon the softness value (which may be received at aprocessor, for example, from a database, server, user input, etc.). Insome embodiments a user interface may be provided to specify anysuitable value (pressure within the deformable sensor 100 FIG. 1,softness value pertaining to an object 215, etc.) for initializationand/or updating (such as on a display device depicted in 140 FIG. 4,1204 FIG. 12, etc.). In other embodiments a robot 200 a may be able toidentify specific objects 215 (such as via object recognition in avision system, etc.) whereby the softness value may be modified, whichmay lead to utilization of another deformable sensor 100 having a moresuitable deformability, aggregate spatial resolution, depth resolution,pressure, and/or material for the deformable membrane 120. In someembodiments a processor in a robot 200 a may from the internal sensor130 receive data representing the contact region 142. In variousembodiments a processor in a robot 200 a may determine a vector 144normal to a surface of the object 215 based on the data representing thecontact region 142 and utilize the vector 144 to determine whichdirection the object 215 is oriented.

In embodiments, a plurality of deformable sensors may be provided atvarious locations on a robot 200. FIG. 9 depicts an example robot 200having a plurality of deformable sensors 100, 100′ and 100″ at differentlocations. A deformable sensor 100 may act as an end effector of therobot 200, and have a high spatial resolution and/or depth resolution.In some embodiments the deformability of a deformable sensor 100 may bea function of some combination of the material of the deformablemembrane 120 and the internal pressure within the deformable sensor 100.In some embodiments a deformable sensor 100 may have a clamp or othersuitable attachment mechanism. For example, the deformable sensor 100may be removably attached to a robot 200, and/or a robot 200 which mayhave features to provide for attachment and/or removal of a deformablesensor 100. Any suitable type of clamp, fastener, or attachmentmechanism may be utilized in some embodiments.

Each deformable sensor 100 may have a desired spatial resolution and/ora desired depth resolution depending on its location on the robot 200.In the illustrated embodiment, deformable sensors 100′ are disposed on afirst arm portion 201 and a second arm portion 202 (the terms “armportion” and “portion” being used interchangeably throughout). An armportion may have one or more deformable sensors 100, or none at all. Thedeformable sensors 100′ may be shaped to conform to the shape of thefirst arm portion 201 and/or the second arm portion 202. It may be notedthat the deformable sensors 100 described herein may take on any shapedepending on the application. Deformable sensors 100′ may be veryflexible and thus deformable. This may be beneficial in human-robotinteractions. In this way, the robot 200 may contact a person (e.g., togive the person a “hug”) without causing harm due to the softness of thedeformable sensors 100′ and/or due to an ability to control the force ofthe contact with an object. The spatial resolution of one or moredeformation sensors 100′ in the arm portions 201, 202 may be high or lowdepending on the application. In the example of FIG. 9, the deformablesensors 100″ near the base portion 203 of the robot 200 may have lowspatial resolution, and may be configured to only detect contact with atarget object. The deformability of deformable sensors 100″ near thebase of the robot 200 may be set based on the application of the robot200. The depth resolution and/or spatial resolution of the sensors 100may be varied along different parts of the robot 200. For example, oneportion 203 it may not be necessary to identify the shape and/or pose ofan object coming into contact with a particular deformable sensor 100,as simply registering contact with an object may provide sufficientinformation, whereas contact with another portion (such as 201) mayproduce pose and/or shape information derived from the contact. As shownin FIG. 9, deformable sensors 100 may be of any suitable size, which mayvary even within an arm portion. Although arm portions 201, 202, 203 aredepicted as being discrete/non-overlapping, overlap may occur in otherembodiments.

As discussed above, a portion of a robot 200 may provide an aggregatespatial resolution that is greater than another portion. In someembodiments a portion of a first robot 200 a may interact with an object215 in simultaneous coordination with a portion of second robot 200 b,and the aggregate spatial resolution of the portion of the first robot200 a may equal the spatial resolution of the portion of the secondrobot 200 b. In some embodiments deformability, such as in a portion ofa robot 200 a, may be determined and/or modified based upon a softnessvalue of one or more objects 215 with which the portion interacts. Invarious embodiments the aggregate spatial resolution of the portion maydiffer from the aggregate spatial resolution of another portion basedupon both portions being configured to interact with a plurality ofobjects 215 having differing softness values. In some embodimentsmodifying the aggregate spatial resolution of the portion may be basedupon adjusting a quantity of deformable membranes 120, a quantity ofinternal sensors 130 within one or more deformable membranes 120, and/ora spatial resolution of at least one internal sensor 130. In someembodiments, various portions may work in tandem. For example, asdiscussed above, one portion may utilize a high spatial resolution todetermine an object's pose/shape and/or a pattern on the surface on theobject, while another portion (on the same or a different robot) mayonly detect the location of contact, where these portions maycommunicate with each other or with another component that receivesinformation from both portions.

Referring now to FIG. 10, an embodiment depicts a compound internalsensor 1000, which may be utilized within a deformable sensor (notshown). A plurality of internal sensors 1002 are depicted, which in thisembodiment are time-of-flight cameras (as discussed above in FIG. 3).Other embodiments may utilize any combination of various types ofinternal sensors. In this embodiment cables 1004 are utilized to providedata communications and/or power to the internal sensors, although otherembodiments may use a different number of cables and/or wirelessconnections for data and/or power. A support structure 1006 is depictedin this embodiment, although other embodiments may utilize a pluralityof support structures or no support structure. In this embodiment thesupport structure is rigid, although one or more support structures maybe flexible to change the orientation of internal sensors 1002 in someembodiments. In this embodiment the cables 1004 may be connected to abase portion 1008 for data communications and/or power.

Turning now to FIG. 11, a flowchart 1100 illustrates an exemplaryprocess for determining the pose and force associated with an object incontact with a deformable sensor. At block 1102, a medium (gas, liquid,silicone, etc.) may be received within the enclosure 113 having ahousing 110 where the deformable membrane 120 is coupled to an upperportion 111 of the housing 110. At block 1104, deformation of thedeformable membrane 120 may be measured based on contact with an object215 via an internal sensor 130 in the enclosure 113 having a field ofview 132 directed through the medium and toward a bottom surface 121 ofthe deformable membrane 120. At block 1106, a pose of the object 215 maybe determined based on the measure deformation (such as the contactregion 142) of the deformable membrane 120. At block 1108, an amount offorce between the deformable membrane 120 and the object 215 isdetermined based on the measured deformation of the deformable membrane120. Blocks 1106 and 1108 may be performed simultaneously, but do notnecessarily need to be. At block 1110 a determination is made as towhether further deformation and/or contact is detected. If so, then theflowchart may return to block 1104. If not, the flowchart may end.

Turning to FIG. 12, a block diagram illustrates an example of acomputing device 1200, through which embodiments of the disclosure canbe implemented, such as (by way of non-limiting example) a deformablesensor 100, an internal sensor 130, a robot 200, or any other devicedescribed herein. The computing device 1200 described herein is but oneexample of a suitable computing device and does not suggest anylimitation on the scope of any embodiments presented. Nothingillustrated or described with respect to the computing device 1200should be interpreted as being required or as creating any type ofdependency with respect to any element or plurality of elements. Invarious embodiments, a computing device 1200 may include, but need notbe limited to, a deformable sensor 100, an internal sensor 130, a robot200. In an embodiment, the computing device 1200 includes at least oneprocessor 1202 and memory (non-volatile memory 1208 and/or volatilememory 1210). The computing device 1200 can include one or more displaysand/or output devices 1204 such as monitors, speakers, headphones,projectors, wearable-displays, holographic displays, and/or printers,for example. The computing device 1200 may further include one or moreinput devices 1206 which can include, by way of example, any type ofmouse, keyboard, disk/media drive, memory stick/thumb-drive, memorycard, pen, touch-input device, biometric scanner, voice/auditory inputdevice, motion-detector, camera, scale, etc.

The computing device 1200 may include non-volatile memory 1208 (ROM,flash memory, etc.), volatile memory 1210 (RAM, etc.), or a combinationthereof. A network interface 1212 can facilitate communications over anetwork 1214 via wires, via a wide area network, via a local areanetwork, via a personal area network, via a cellular network, via asatellite network, etc. Suitable local area networks may include wiredEthernet and/or wireless technologies such as, for example, wirelessfidelity (Wi-Fi). Suitable personal area networks may include wirelesstechnologies such as, for example, IrDA, Bluetooth, Wireless USB,Z-Wave, ZigBee, and/or other near field communication protocols.Suitable personal area networks may similarly include wired computerbuses such as, for example, USB and FireWire. Suitable cellular networksinclude, but are not limited to, technologies such as LTE, WiMAX, UMTS,CDMA, and GSM. Network interface 1212 can be communicatively coupled toany device capable of transmitting and/or receiving data via the network1214. Accordingly, the hardware of the network interface 1212 caninclude a communication transceiver for sending and/or receiving anywired or wireless communication. For example, the network interfacehardware may include an antenna, a modem, LAN port, Wi-Fi card, WiMaxcard, mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices.

A computer readable storage medium 1216 may comprise a plurality ofcomputer readable mediums, each of which may be either a computerreadable storage medium or a computer readable signal medium. A computerreadable storage medium 1216 may reside, for example, within an inputdevice 1206, non-volatile memory 1208, volatile memory 1210, or anycombination thereof. A computer readable storage medium can includetangible media that is able to store instructions associated with, orused by, a device or system. A computer readable storage mediumincludes, by way of non-limiting examples: RAM, ROM, cache, fiberoptics, EPROM/Flash memory, CD/DVD/BD-ROM, hard disk drives, solid-statestorage, optical or magnetic storage devices, diskettes, electricalconnections having a wire, or any combination thereof. A computerreadable storage medium may also include, for example, a system ordevice that is of a magnetic, optical, semiconductor, or electronictype. Computer readable storage media and computer readable signal mediaare mutually exclusive. For example, a robot 200 and/or a server mayutilize a computer readable storage medium to store data received fromone or more internal sensors 130 on the robot 200.

A computer readable signal medium can include any type of computerreadable medium that is not a computer readable storage medium and mayinclude, for example, propagated signals taking any number of forms suchas optical, electromagnetic, or a combination thereof. A computerreadable signal medium may include propagated data signals containingcomputer readable code, for example, within a carrier wave. Computerreadable storage media and computer readable signal media are mutuallyexclusive.

The computing device 1200, such as a deformable sensor 100, an internalsensor 130, a robot 200, may include one or more network interfaces 1212to facilitate communication with one or more remote devices, which mayinclude, for example, client and/or server devices. In variousembodiments the computing device (for example a robot or deformablesensor) may be configured to communicate over a network with a server orother network computing device to transmit and receive data from one ormore deformable sensors 100 on a robot 200. A network interface 1212 mayalso be described as a communications module, as these terms may be usedinterchangeably.

Turning now to FIG. 13, example components of one non-limitingembodiment of a robot 1300 is schematically depicted. The robot 1300includes a housing 1310, a communication path 1328, a processor 1330, amemory module 1332, a tactile display 1334, an inertial measurement unit1336, an input device 1338, an audio output device 1340 (e.g., aspeaker), a microphone 1342, a camera 1344, network interface hardware1346, a tactile feedback device 1348, a location sensor 1350, a light1352, a proximity sensor 1354, a temperature sensor 1356, a motorizedwheel assembly 1358, a battery 1360, and a charging port 1362. Thecomponents of the robot 1300 other than the housing 1310 may becontained within or mounted to the housing 1310. The various componentsof the robot 1300 and the interaction thereof will be described indetail below.

Still referring to FIG. 13, the communication path 1328 may be formedfrom any medium that is capable of transmitting a signal such as, forexample, conductive wires, conductive traces, optical waveguides, or thelike. Moreover, the communication path 1328 may be formed from acombination of mediums capable of transmitting signals. In oneembodiment, the communication path 1328 comprises a combination ofconductive traces, conductive wires, connectors, and buses thatcooperate to permit the transmission of electrical data signals tocomponents such as processors, memories, sensors, input devices, outputdevices, and communication devices. Accordingly, the communication path1328 may comprise a bus. Additionally, it is noted that the term“signal” means a waveform (e.g., electrical, optical, magnetic,mechanical or electromagnetic), such as DC, AC, sinusoidal-wave,triangular-wave, square-wave, vibration, and the like, capable oftraveling through a medium. The communication path 1328 communicativelycouples the various components of the robot 1300. As used herein, theterm “communicatively coupled” means that coupled components are capableof exchanging data signals with one another such as, for example,electrical signals via conductive medium, electromagnetic signals viaair, optical signals via optical waveguides, and the like.

The processor 1330 of the robot 1300 may be any device capable ofexecuting machine- readable instructions. Accordingly, the processor1330 may be a controller, an integrated circuit, a microchip, acomputer, or any other computing device. The processor 1330 may becommunicatively coupled to the other components of the robot 1300 by thecommunication path 1328. This may, in various embodiments, allow theprocessor 1330 to receive data from the one or more deformable sensors100 which may be part of the robot 1300. In other embodiments, theprocessor 1330 may receive data directly from one or more internalsensors 130 which are part of one or more deformable sensors 100 on arobot 1300. Accordingly, the communication path 1328 may communicativelycouple any number of processors with one another, and allow thecomponents coupled to the communication path 1328 to operate in adistributed computing environment. Specifically, each of the componentsmay operate as a node that may send and/or receive data. While theembodiment depicted in FIG. 13 includes a single processor 1330, otherembodiments may include more than one processor.

Still referring to FIG. 13, the memory module 1332 of the robot 1300 iscoupled to the communication path 1328 and communicatively coupled tothe processor 1330. The memory module 1332 may, for example, containinstructions to detect a shape of an object that has deformed thedeformable membrane 120 of a deformable sensor 100. In this example,these instructions stored in the memory module 1332, when executed bythe processor 1330, may allow for the determination of the shape of anobject based on the observed deformation of the deformable membrane 120.The memory module 1332 may comprise RAM, ROM, flash memories, harddrives, or any non-transitory memory device capable of storingmachine-readable instructions such that the machine-readableinstructions can be accessed and executed by the processor 1330. Themachine-readable instructions may comprise logic or algorithm(s) writtenin any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL,or 5GL) such as, for example, machine language that may be directlyexecuted by the processor, or assembly language, object-orientedprogramming (OOP), scripting languages, microcode, etc., that may becompiled or assembled into machine-readable instructions and stored inthe memory module 1332. Alternatively, the machine-readable instructionsmay be written in a hardware description language (HDL), such as logicimplemented via either a field-programmable gate array (FPGA)configuration or an application-specific integrated circuit (ASIC), ortheir equivalents. Accordingly, the functionality described herein maybe implemented in any conventional computer programming language, aspre-programmed hardware elements, or as a combination of hardware andsoftware components. While the embodiment depicted in FIG. 13 includes asingle memory module 1332, other embodiments may include more than onememory module.

The tactile display 1334, if provided, is coupled to the communicationpath 1328 and communicatively coupled to the processor 1330. The tactiledisplay 1334 may be any device capable of providing tactile output inthe form of refreshable tactile messages. A tactile message conveysinformation to a user by touch. For example, a tactile message may be inthe form of a tactile writing system, such as Braille. A tactile messagemay also be in the form of any shape, such as the shape of an objectdetected in the environment. The tactile display 1334 may provideinformation to the user regarding the operational state of the robot1300.

Any known or yet-to-be-developed tactile display may be used. In someembodiments, the tactile display 1334 is a three dimensional tactiledisplay including a surface, portions of which may raise to communicateinformation. The raised portions may be actuated mechanically in someembodiments (e.g., mechanically raised and lowered pins). The tactiledisplay 1334 may also be fluidly actuated, or it may be configured as anelectrovibration tactile display.

The inertial measurement unit 1336, if provided, is coupled to thecommunication path 1328 and communicatively coupled to the processor1330. The inertial measurement unit 1336 may include one or moreaccelerometers and one or more gyroscopes. The inertial measurement unit1336 transforms sensed physical movement of the robot 1300 into a signalindicative of an orientation, a rotation, a velocity, or an accelerationof the robot 1300. The operation of the robot 1300 may depend on anorientation of the robot 1300 (e.g., whether the robot 1300 ishorizontal, tilted, and the like). Some embodiments of the robot 1300may not include the inertial measurement unit 1336, such as embodimentsthat include an accelerometer but not a gyroscope, embodiments thatinclude a gyroscope but not an accelerometer, or embodiments thatinclude neither an accelerometer nor a gyroscope.

Still referring to FIG. 13, one or more input devices 1338 are coupledto the communication path 1328 and communicatively coupled to theprocessor 1330. The input device 1338 may be any device capable oftransforming user contact into a data signal that can be transmittedover the communication path 1328 such as, for example, a button, aswitch, a knob, a microphone or the like. In various embodiments aninput device 1338 may be a deformable sensor 100 and/or an internalsensor 130 as described above. In some embodiments, the input device1338 includes a power button, a volume button, an activation button, ascroll button, or the like. The one or more input devices 1338 may beprovided so that the user may interact with the robot 1300, such as tonavigate menus, make selections, set preferences, and otherfunctionality described herein. In some embodiments, the input device1338 includes a pressure sensor, a touch-sensitive region, a pressurestrip, or the like. It should be understood that some embodiments maynot include the input device 1338. As described in more detail below,embodiments of the robot 1300 may include multiple input devicesdisposed on any surface of the housing 1310. In some embodiments, one ormore of the input devices 1338 are configured as a fingerprint sensorfor unlocking the robot. For example, only a user with a registeredfingerprint may unlock and use the robot 1300.

The speaker 1340 (i.e., an audio output device) is coupled to thecommunication path 1328 and communicatively coupled to the processor1330. The speaker 1340 transforms audio message data from the processor1330 of the robot 1300 into mechanical vibrations producing sound. Forexample, the speaker 1340 may provide to the user navigational menuinformation, setting information, status information, informationregarding the environment as detected by image data from the one or morecameras 1344, and the like. However, it should be understood that, inother embodiments, the robot 1300 may not include the speaker 1340.

The microphone 1342 is coupled to the communication path 1328 andcommunicatively coupled to the processor 1330. The microphone 1342 maybe any device capable of transforming a mechanical vibration associatedwith sound into an electrical signal indicative of the sound. Themicrophone 1342 may be used as an input device 1338 to perform tasks,such as navigate menus, input settings and parameters, and any othertasks. It should be understood that some embodiments may not include themicrophone 1342.

Still referring to FIG. 13, the camera 1344 is coupled to thecommunication path 1328 and communicatively coupled to the processor1330. The camera 1344 may be any device having an array of sensingdevices (e.g., pixels) capable of detecting radiation in an ultravioletwavelength band, a visible light wavelength band, or an infraredwavelength band. The camera 1344 may have any resolution. The camera1344 may be an omni-directional camera, or a panoramic camera. In someembodiments, one or more optical components, such as a mirror, fish-eyelens, or any other type of lens may be optically coupled to the camera1344. As described in more detail below, the camera 1344 is a componentof an imaging assembly 1322 operable to be raised above the housing 1310to capture image data.

The network interface hardware 1346 is coupled to the communication path1328 and communicatively coupled to the processor 1330. The networkinterface hardware 1346 may be any device capable of transmitting and/orreceiving data via a network 1370. Accordingly, network interfacehardware 1346 can include a wireless communication module configured asa communication transceiver for sending and/or receiving any wired orwireless communication. For example, the network interface hardware 1346may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card,mobile communications hardware, near-field communication hardware,satellite communication hardware and/or any wired or wireless hardwarefor communicating with other networks and/or devices. In one embodiment,network interface hardware 1346 includes hardware configured to operatein accordance with the Bluetooth wireless communication protocol. Inanother embodiment, network interface hardware 1346 may include aBluetooth send/receive module for sending and receiving Bluetoothcommunications to/from a portable electronic device 1380. The networkinterface hardware 1346 may also include a radio frequencyidentification (“RFID”) reader configured to interrogate and read RFIDtags.

In some embodiments, the robot 1300 may be communicatively coupled to aportable electronic device 1380 via the network 1370. In someembodiments, the network 1370 is a personal area network that utilizesBluetooth technology to communicatively couple the robot 1300 and theportable electronic device 1380. In other embodiments, the network 1370may include one or more computer networks (e.g., a personal areanetwork, a local area network, or a wide area network), cellularnetworks, satellite networks and/or a global positioning system andcombinations thereof. Accordingly, the robot 1300 can be communicativelycoupled to the network 1370 via wires, via a wide area network, via alocal area network, via a personal area network, via a cellular network,via a satellite network, or the like. Suitable local area networks mayinclude wired Ethernet and/or wireless technologies such as, forexample, wireless fidelity (Wi-Fi). Suitable personal area networks mayinclude wireless technologies such as, for example, IrDA, Bluetooth,Wireless USB, Z-Wave, ZigBee, and/or other near field communicationprotocols. Suitable personal area networks may similarly include wiredcomputer buses such as, for example, USB and FireWire. Suitable cellularnetworks include, but are not limited to, technologies such as LTE,WiMAX, UMTS, CDMA, and GSM.

Still referring to FIG. 13, as stated above, the network 1370 may beutilized to communicatively couple the robot 1300 with the portableelectronic device 1380. The portable electronic device 1380 may includea mobile phone, a smartphone, a personal digital assistant, a camera, adedicated mobile media player, a mobile personal computer, a laptopcomputer, and/or any other portable electronic device capable of beingcommunicatively coupled with the robot 1300. The portable electronicdevice 1380 may include one or more processors and one or more memories.The one or more processors can execute logic to communicate with therobot 1300. The portable electronic device 1380 may be configured withwired and/or wireless communication functionality for communicating withthe robot 1300. In some embodiments, the portable electronic device 1380may perform one or more elements of the functionality described herein,such as in embodiments in which the functionality described herein isdistributed between the robot 1300 and the portable electronic device1380.

The tactile feedback device 1348 is coupled to the communication path1328 and communicatively coupled to the processor 1330. The tactilefeedback device 1348 may be any device capable of providing tactilefeedback to a user. The tactile feedback device 1348 may include avibration device (such as in embodiments in which tactile feedback isdelivered through vibration), an air blowing device (such as inembodiments in which tactile feedback is delivered through a puff ofair), or a pressure generating device (such as in embodiments in whichthe tactile feedback is delivered through generated pressure). It shouldbe understood that some embodiments may not include the tactile feedbackdevice 1348.

The location sensor 1350 is coupled to the communication path 1328 andcommunicatively coupled to the processor 1330. The location sensor 1350may be any device capable of generating an output indicative of alocation. In some embodiments, the location sensor 1350 includes aglobal positioning system (GPS) sensor, though embodiments are notlimited thereto. Some embodiments may not include the location sensor1350, such as embodiments in which the robot 1300 does not determine alocation of the robot 1300 or embodiments in which the location isdetermined in other ways (e.g., based on information received from thecamera 1344, the microphone 1342, the network interface hardware 1346,the proximity sensor 1354, the inertial measurement unit 1336 or thelike). The location sensor 1350 may also be configured as a wirelesssignal sensor capable of triangulating a location of the robot 1300 andthe user by way of wireless signals received from one or more wirelesssignal antennas.

The motorized wheel assembly 1358 is coupled to the communication path1328 and communicatively coupled to the processor 1330. As described inmore detail below, the motorized wheel assembly 1358 includes motorizedwheels (not shown) that are driven by one or motors (not shown). Theprocessor 1330 may provide one or more drive signals to the motorizedwheel assembly 1358 to actuate the motorized wheels such that the robot1300 travels to a desired location, such as a location that the userwishes to acquire environmental information (e.g., the location ofparticular objects within at or near the desired location).

Still referring to FIG. 13, the light 1352 is coupled to thecommunication path 1328 and communicatively coupled to the processor1330. The light 1352 may be any device capable of outputting light, suchas, but not limited to, a light emitting diode, an incandescent light, afluorescent light, or the like. Some embodiments include a powerindicator light that is illuminated when the robot 1300 is powered on.Some embodiments include an activity indicator light that is illuminatedwhen the robot 1300 is active or processing data. Some embodimentsinclude an illumination light for illuminating the environment in whichthe robot 1300 is located. Some embodiments may not include the light1352.

The proximity sensor 1354 is coupled to the communication path 1328 andcommunicatively coupled to the processor 1330. The proximity sensor 1354may be any device capable of outputting a proximity signal indicative ofa proximity of the robot 1300 to another object. In some embodiments,the proximity sensor 1354 may include a laser scanner, a capacitivedisplacement sensor, a Doppler effect sensor, an eddy-current sensor, anultrasonic sensor, a magnetic sensor, an internal sensor, a radarsensor, a lidar sensor, a sonar sensor, or the like. Some embodimentsmay not include the proximity sensor 1354, such as embodiments in whichthe proximity of the robot 1300 to an object is determine from inputsprovided by other sensors (e.g., the camera 1344, the speaker 1340,etc.) or embodiments that do not determine a proximity of the robot 1300to an object 1315.

The temperature sensor 1356 is coupled to the communication path 1328and communicatively coupled to the processor 1330. The temperaturesensor 1356 may be any device capable of outputting a temperature signalindicative of a temperature sensed by the temperature sensor 1356. Insome embodiments, the temperature sensor 1356 may include athermocouple, a resistive temperature device, an infrared sensor, abimetallic device, a change of state sensor, a thermometer, a silicondiode sensor, or the like. Some embodiments of the robot 1300 may notinclude the temperature sensor 1356.

Still referring to FIG. 13, the robot 1300 is powered by the battery1360, which is electrically coupled to the various electrical componentsof the robot 1300. The battery 1360 may be any device capable of storingelectric energy for later use by the robot 1300. In some embodiments,the battery 1360 is a rechargeable battery, such as a lithium-ionbattery or a nickel- cadmium battery. In embodiments in which thebattery 1360 is a rechargeable battery, the robot 1300 may include thecharging port 1362, which may be used to charge the battery 1360. Someembodiments may not include the battery 1360, such as embodiments inwhich the robot 1300 is powered the electrical grid, by solar energy, orby energy harvested from the environment. Some embodiments may notinclude the charging port 1362, such as embodiments in which theapparatus utilizes disposable batteries for power.

It should now be understood that embodiments of the present disclosureare directed deformable sensors capable of detecting contact with anobject as well as a geometric shape and pose of an object. One or moredeformable sensors may be provided on a robot, for example. Theinformation provided by the deformable sensors may then be used tocontrol the robot's interaction with target objects. The depthresolution and spatial resolution of the deformation sensors may varydepending on the location of the deformable sensors on the robot.

It is noted that recitations herein of a component of the presentdisclosure being “configured” or “programmed” in a particular way, toembody a particular property, or to function in a particular manner, arestructural recitations, as opposed to recitations of intended use. Morespecifically, the references herein to the manner in which a componentis “configured” or “programmed” denotes an existing physical conditionof the component and, as such, is to be taken as a definite recitationof the structural characteristics of the component.

The order of execution or performance of the operations in examples ofthe disclosure illustrated and described herein is not essential, unlessotherwise specified. That is, the operations may be performed in anyorder, unless otherwise specified, and examples of the disclosure mayinclude additional or fewer operations than those disclosed herein. Forexample, it is contemplated that executing or performing a particularoperation before, contemporaneously with, or after another operation iswithin the scope of aspects of the disclosure.

It is noted that the terms “substantially” and “about” and“approximately” may be utilized herein to represent the inherent degreeof uncertainty that may be attributed to any quantitative comparison,value, measurement, or other representation. These terms are alsoutilized herein to represent the degree by which a quantitativerepresentation may vary from a stated reference without resulting in achange in the basic function of the subject matter at issue.

While particular embodiments have been illustrated and described herein,it should be understood that various other changes and modifications maybe made without departing from the spirit and scope of the claimedsubject matter. Moreover, although various aspects of the claimedsubject matter have been described herein, such aspects need not beutilized in combination. It is therefore intended that the appendedclaims cover all such changes and modifications that are within thescope of the claimed subject matter.

What is claimed is:
 1. A deformable sensor for detecting forceassociated with an object, comprising: an enclosure comprising a housingand a deformable membrane; and an internal depth sensor that is disposedwithin the enclosure and is configured to: view the deformable membranethrough a medium; and output a deformation region within the deformablemembrane as a result of contact with the object.
 2. The deformablesensor of claim 1 wherein the housing comprises a conduit configured toprovide cabling for power or signals to or from the deformable sensor.3. The deformable sensor of claim 1 wherein pressure within thedeformable sensor is specified by a pressurization parameter and isinversely proportional to deformability of the deformable sensor.
 4. Thedeformable sensor of claim 1 further comprising a plurality of internalsensors disposed within the enclosure.
 5. The deformable sensor of claim1 wherein deformability of the deformable sensor is modified by a changeof pressure within the enclosure due to membrane material or mediamaterial.
 6. The deformable sensor of claim 1 wherein the internalsensor further comprises a filter disposed within the field of view ofthe internal sensor and configured to scatter the optical signal emittedby the internal sensor.
 7. The deformable sensor of claim 1 wherein theinternal sensor comprises a time of flight sensor.
 8. The deformablesensor of claim 1 wherein the deformable membrane further comprises afilter layer configured to scatter an internal signal emitted by theinternal sensor.
 9. The deformable sensor of claim 1 wherein a filterlayer, disposed on a bottom surface of the deformable membrane,comprises a coating or a pattern.
 10. A method for sensor-baseddetection of force associated with an object, comprising: receiving, bya processor, a signal from a deformable sensor comprising data withrespect to a deformation region in a deformable membrane resulting fromcontact with the object utilizing an internal depth sensor disposedwithin an enclosure and having a field of view directed through a mediumand toward the deformable membrane; and determining, by the processor,an amount of force applied between the deformable membrane and theobject based on the deformation region.
 11. The method of claim 10further comprising modifying deformability of the deformable sensor bychanging pressure within the enclosure.
 12. The method of claim 10,further comprising outputting, by the processor, for display on adevice, output of the deformable sensor as the object deforms thedeformable membrane.
 13. The method of claim 10 further comprising:determining, by the processor, a pose of the object; and outputting, bythe processor, a vector that is normal to a surface in the deformationregion.
 14. The method of claim 10 further comprising scattering theoptical signal emitted by the internal sensor of an internal signalemitted by the internal sensor via a filter layer disposed on a bottomsurface of the deformable membrane.
 15. The method of claim 14 whereinanalyzing, by the processor, the deformation region further comprisesmeasuring changes to a coating or a pattern on the bottom surface of thedeformable membrane.
 16. The method of claim 10 wherein the internalsensor comprises a time of flight sensor.
 17. A system for detectingforce associated with an object, comprising: an enclosure comprising ahousing and a deformable membrane; and an internal depth sensor that isdisposed within the enclosure and is configured to: view the deformablemembrane through a medium; and output a deformation region within thedeformable membrane as a result of contact with the object; and aprocessor configured to: receive data from the internal sensorrepresenting the deformation region; and determine an amount of forceapplied between the deformable membrane and the object.
 18. The systemof claim 17 wherein the processor is further configured to determine avector normal to a surface of the object based on the data representingthe deformation region.
 19. The system of claim 18 wherein the processoris further configured to utilize the vector to determine which directionthe object is oriented.
 20. The system of claim 17 wherein the internalsensor comprises a time of flight sensor.